航空研究会 / Mbed 2 deprecated Autoflight2018_54

フェイルセーフ完成版

Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_53 by 航空研究会

main.cpp@10:652071c20bf6, 2018-09-15 (annotated)

Committer:
taknokolat
Date:
Sat Sep 15 15:34:20 2018 +0000
Revision:
10:652071c20bf6
Parent:
9:f6367b7fd7be
Child:
11:c0b9ad25d3db
??????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HARUKIDELTA 0:17f575135219 1 //mbed
HARUKIDELTA 0:17f575135219 2 #include "mbed.h"
HARUKIDELTA 0:17f575135219 3 #include "FATFileSystem.h"
HARUKIDELTA 0:17f575135219 4 #include "SDFileSystem.h"
HARUKIDELTA 0:17f575135219 5 //C
HARUKIDELTA 0:17f575135219 6 #include "math.h"
HARUKIDELTA 0:17f575135219 7 //sensor
HARUKIDELTA 0:17f575135219 8 #include "MPU6050_DMP6.h"
HARUKIDELTA 0:17f575135219 9 //#include "MPU9250.h"
HARUKIDELTA 0:17f575135219 10 //#include "BMP280.h"
HARUKIDELTA 0:17f575135219 11 #include "hcsr04.h"
HARUKIDELTA 0:17f575135219 12 //device
HARUKIDELTA 0:17f575135219 13 #include "sbus.h"
HARUKIDELTA 0:17f575135219 14 //config
HARUKIDELTA 0:17f575135219 15 #include "SkipperSv2.h"
HARUKIDELTA 0:17f575135219 16 #include "falfalla.h"
HARUKIDELTA 0:17f575135219 17 //other
HARUKIDELTA 0:17f575135219 18 #include "pid.h"
HARUKIDELTA 0:17f575135219 19
HARUKIDELTA 0:17f575135219 20 #define DEBUG_SEMIAUTO 0
HARUKIDELTA 0:17f575135219 21 #define DEBUG_PRINT_INLOOP 1
HARUKIDELTA 0:17f575135219 22
TUATBM 9:f6367b7fd7be 23 #define KP_ELE 15.0 //2.0
HARUKIDELTA 0:17f575135219 24 #define KI_ELE 0.0
TUATBM 9:f6367b7fd7be 25 #define KD_ELE 0.0 //0/0
HARUKIDELTA 0:17f575135219 26 #define KP_RUD 3.0
HARUKIDELTA 0:17f575135219 27 #define KI_RUD 0.0
HARUKIDELTA 0:17f575135219 28 #define KD_RUD 0.0
HARUKIDELTA 2:23daa5fa28b4 29 #define KP_AIL 0.1
HARUKIDELTA 2:23daa5fa28b4 30 #define KI_AIL 0.2
HARUKIDELTA 2:23daa5fa28b4 31 #define KD_AIL 0.2
taknokolat 1:f383708a5a52 32
HARUKIDELTA 2:23daa5fa28b4 33 //#define g_AIL_L_Ratio_rightloop 0.5
HARUKIDELTA 0:17f575135219 34
HARUKIDELTA 0:17f575135219 35 #define GAIN_CONTROLVALUE_TO_PWM 3.0
HARUKIDELTA 0:17f575135219 36
HARUKIDELTA 0:17f575135219 37 #define RIGHT_ROLL -12.0
TUATBM 9:f6367b7fd7be 38 #define RIGHT_PITCH -10.0 //5.0
HARUKIDELTA 0:17f575135219 39 #define LEFT_ROLL 12.0
HARUKIDELTA 0:17f575135219 40 #define LEFT_PITCH -5.0
HARUKIDELTA 0:17f575135219 41 #define STRAIGHT_ROLL 4.0
HARUKIDELTA 0:17f575135219 42 #define STRAIGHT_PITCH 3.0
HARUKIDELTA 0:17f575135219 43 #define TAKEOFF_THR 0.8
HARUKIDELTA 0:17f575135219 44 #define LOOP_THR 0.6
HARUKIDELTA 0:17f575135219 45
HARUKIDELTA 2:23daa5fa28b4 46 #define g_rightloopRUD 1500
HARUKIDELTA 2:23daa5fa28b4 47
HARUKIDELTA 0:17f575135219 48 #define RIGHT_ROLL_SHORT -12.0
HARUKIDELTA 0:17f575135219 49 #define RIGHT_PITCH_SHORT -5.0
HARUKIDELTA 0:17f575135219 50 #define LEFT_ROLL_SHORT 12.0
HARUKIDELTA 0:17f575135219 51 #define LEFT_PITCH_SHORT -5.0
HARUKIDELTA 0:17f575135219 52
TUATBM 9:f6367b7fd7be 53 #define rightloopRUD 1300 //1250
TUATBM 9:f6367b7fd7be 54 #define AIL_R_correctionrightloop 0
TUATBM 9:f6367b7fd7be 55 #define AIL_L_correctionrightloop -400
HARUKIDELTA 3:206b17251f5b 56 #define rightloopshortRUD 1250
HARUKIDELTA 3:206b17251f5b 57 #define AIL_L_correctionrightloopshort 0
HARUKIDELTA 3:206b17251f5b 58 #define leftloopRUD 1500
HARUKIDELTA 3:206b17251f5b 59 #define AIL_L_correctionleftloop -0
HARUKIDELTA 3:206b17251f5b 60 #define leftloopshortRUD 1500
HARUKIDELTA 3:206b17251f5b 61 #define AIL_L_correctionleftloopshort 0
HARUKIDELTA 3:206b17251f5b 62 #define glideloopRUD 1300
HARUKIDELTA 3:206b17251f5b 63
HARUKIDELTA 8:66bba39b95a9 64 #define RIGHTLOOP_RUD 1250
HARUKIDELTA 8:66bba39b95a9 65 #define RIGHTLOOPSHORT_RUD 1250
HARUKIDELTA 8:66bba39b95a9 66 #define LEFTLOOP_RUD 1500
HARUKIDELTA 8:66bba39b95a9 67 #define LEFTLOOPSHORT_RUD 1500
HARUKIDELTA 8:66bba39b95a9 68 #define GLIDELOOP_RUD 1300
HARUKIDELTA 8:66bba39b95a9 69 #define AIL_L_CORRECTION_RIGHTLOOP 0
HARUKIDELTA 8:66bba39b95a9 70 #define AIL_L_CORRECTION_RIGHTLOOPSHORT 0
HARUKIDELTA 8:66bba39b95a9 71 #define AIL_L_CORRECTION_LEFTLOOP 0
HARUKIDELTA 8:66bba39b95a9 72 #define AIL_L_CORRECTION_LEFTLOOPSHORT 0
HARUKIDELTA 3:206b17251f5b 73
HARUKIDELTA 0:17f575135219 74 #define GLIDE_ROLL -12.0
HARUKIDELTA 0:17f575135219 75 #define GLIDE_PITCH -3.0
HARUKIDELTA 0:17f575135219 76
HARUKIDELTA 3:206b17251f5b 77
HARUKIDELTA 3:206b17251f5b 78 #define AIL_L_RatioRising 0.5
HARUKIDELTA 3:206b17251f5b 79 #define AIL_L_RatioDescent 2
HARUKIDELTA 3:206b17251f5b 80
HARUKIDELTA 0:17f575135219 81 //コンパスキャリブレーション
HARUKIDELTA 0:17f575135219 82 //SkipperS2基板
HARUKIDELTA 0:17f575135219 83 /*
HARUKIDELTA 0:17f575135219 84 #define MAGBIAS_X -35.0
HARUKIDELTA 0:17f575135219 85 #define MAGBIAS_Y 535.0
HARUKIDELTA 0:17f575135219 86 #define MAGBIAS_Z -50.0
HARUKIDELTA 0:17f575135219 87 */
HARUKIDELTA 0:17f575135219 88 //S2v2 1番基板
HARUKIDELTA 0:17f575135219 89 #define MAGBIAS_X 395.0
HARUKIDELTA 0:17f575135219 90 #define MAGBIAS_Y 505.0
HARUKIDELTA 0:17f575135219 91 #define MAGBIAS_Z -725.0
HARUKIDELTA 0:17f575135219 92 //S2v2 2番基板
HARUKIDELTA 0:17f575135219 93 /*
HARUKIDELTA 0:17f575135219 94 #define MAGBIAS_X 185.0
HARUKIDELTA 0:17f575135219 95 #define MAGBIAS_Y 220.0
HARUKIDELTA 0:17f575135219 96 #define MAGBIAS_Z -350.0
HARUKIDELTA 0:17f575135219 97 */
HARUKIDELTA 0:17f575135219 98
HARUKIDELTA 0:17f575135219 99 #define ELEMENT 1
HARUKIDELTA 0:17f575135219 100 #define LIMIT_STRAIGHT_YAW 5.0
HARUKIDELTA 0:17f575135219 101 #define THRESHOLD_TURNINGRADIUS_YAW 60.0
HARUKIDELTA 0:17f575135219 102 #define ALLOWHEIGHT 15
HARUKIDELTA 0:17f575135219 103
HARUKIDELTA 0:17f575135219 104 #ifndef PI
HARUKIDELTA 0:17f575135219 105 #define PI 3.14159265358979
HARUKIDELTA 0:17f575135219 106 #endif
HARUKIDELTA 0:17f575135219 107
HARUKIDELTA 0:17f575135219 108 const int16_t lengthdivpwm = 320;
HARUKIDELTA 0:17f575135219 109 const int16_t changeModeCount = 6;
HARUKIDELTA 0:17f575135219 110
HARUKIDELTA 0:17f575135219 111 const float trim[4] = {Trim_Falfalla[0],Trim_Falfalla[1],Trim_Falfalla[2],Trim_Falfalla[3]};
HARUKIDELTA 0:17f575135219 112 const float expMax[4] = {ExpMax_Falfalla[0],ExpMax_Falfalla[1],ExpMax_Falfalla[2],ExpMax_Falfalla[3]};
HARUKIDELTA 0:17f575135219 113 const float expMin[4] = {ExpMin_Falfalla[0],ExpMin_Falfalla[1],ExpMin_Falfalla[2],ExpMin_Falfalla[3]};
HARUKIDELTA 3:206b17251f5b 114 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
HARUKIDELTA 0:17f575135219 115
HARUKIDELTA 0:17f575135219 116 SBUS sbus(PA_9, PA_10); //SBUS
HARUKIDELTA 0:17f575135219 117
HARUKIDELTA 0:17f575135219 118 PwmOut servo1(PC_6); // TIM3_CH1 //old echo
HARUKIDELTA 0:17f575135219 119 PwmOut servo2(PC_7); // TIM3_CH2 //PC_7
HARUKIDELTA 0:17f575135219 120 PwmOut servo3(PB_0); // TIM3_CH3
HARUKIDELTA 0:17f575135219 121 PwmOut servo4(PB_1); // TIM3_CH4
HARUKIDELTA 0:17f575135219 122 PwmOut servo5(PB_6); // TIM4_CH1
HARUKIDELTA 0:17f575135219 123 PwmOut servo6(PB_7); // TIM4_CH2 //old trigger
HARUKIDELTA 0:17f575135219 124 //PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo
HARUKIDELTA 0:17f575135219 125 //PwmOut servo8(PB_9); // TIM4_CH4 //new trigger
HARUKIDELTA 0:17f575135219 126
HARUKIDELTA 0:17f575135219 127 RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX
taknokolat 1:f383708a5a52 128 //RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用
HARUKIDELTA 0:17f575135219 129 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
HARUKIDELTA 0:17f575135219 130
HARUKIDELTA 0:17f575135219 131 DigitalOut led1(PA_0); //黄色のコネクタ
HARUKIDELTA 0:17f575135219 132 DigitalOut led2(PA_1);
HARUKIDELTA 0:17f575135219 133 DigitalOut led3(PB_4);
HARUKIDELTA 0:17f575135219 134 DigitalOut led4(PB_5);
HARUKIDELTA 0:17f575135219 135
HARUKIDELTA 0:17f575135219 136 //InterruptIn switch2(PC_14);
HARUKIDELTA 0:17f575135219 137 MPU6050DMP6 mpu6050(PC_0,&pc); //割り込みピン，シリアルポインタ i2cのピン指定は MPU6050>>I2Cdev.h 内のdefine
taknokolat 10:652071c20bf6 138 //HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8
HARUKIDELTA 0:17f575135219 139
taknokolat 1:f383708a5a52 140 PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL);
HARUKIDELTA 0:17f575135219 141 PID pid_ELE(g_kpELE,g_kiELE,g_kdELE);
HARUKIDELTA 0:17f575135219 142 PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD);
HARUKIDELTA 0:17f575135219 143
HARUKIDELTA 0:17f575135219 144 enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8};
HARUKIDELTA 0:17f575135219 145 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
HARUKIDELTA 0:17f575135219 146 enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide};
HARUKIDELTA 0:17f575135219 147 enum BombingMode{Takeoff, Chicken, Transition, Approach};
HARUKIDELTA 0:17f575135219 148 enum OutputStatus{Manual, Auto};
HARUKIDELTA 0:17f575135219 149
HARUKIDELTA 0:17f575135219 150 static OutputStatus output_status = Manual;
HARUKIDELTA 0:17f575135219 151 OperationMode operation_mode = StartUp;
HARUKIDELTA 0:17f575135219 152 BombingMode bombing_mode = Takeoff;
HARUKIDELTA 0:17f575135219 153 static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
HARUKIDELTA 7:53b0eb6f6bd3 154 static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600};
HARUKIDELTA 0:17f575135219 155 int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
HARUKIDELTA 0:17f575135219 156 int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
HARUKIDELTA 0:17f575135219 157 int16_t oldTHR = 1000;
HARUKIDELTA 0:17f575135219 158
HARUKIDELTA 2:23daa5fa28b4 159 int16_t g_AIL_L_Ratio_rightloop = 0.5;
HARUKIDELTA 2:23daa5fa28b4 160
HARUKIDELTA 2:23daa5fa28b4 161
HARUKIDELTA 0:17f575135219 162 static float nowAngle[3] = {0,0,0};
HARUKIDELTA 0:17f575135219 163 const float trimAngle[3] = {0.0, 0.0, 0.0};
HARUKIDELTA 0:17f575135219 164 const float maxAngle[2] = {90, 90};
HARUKIDELTA 0:17f575135219 165 const float minAngle[2] = {-90, -90};
HARUKIDELTA 0:17f575135219 166
HARUKIDELTA 0:17f575135219 167 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
HARUKIDELTA 0:17f575135219 168
HARUKIDELTA 0:17f575135219 169 unsigned int g_distance;
taknokolat 10:652071c20bf6 170 //Ticker USsensor;
HARUKIDELTA 0:17f575135219 171 static char g_buf[16];
taknokolat 10:652071c20bf6 172 char g_landingcommand='Z';
HARUKIDELTA 0:17f575135219 173 float g_SerialTargetYAW;
HARUKIDELTA 0:17f575135219 174
HARUKIDELTA 0:17f575135219 175 Timer t;
HARUKIDELTA 0:17f575135219 176 Timeout RerurnChickenServo1;
HARUKIDELTA 0:17f575135219 177 Timeout RerurnChickenServo2;
HARUKIDELTA 0:17f575135219 178
HARUKIDELTA 0:17f575135219 179 /*-----関数のプロトタイプ宣言-----*/
HARUKIDELTA 0:17f575135219 180 void setup();
HARUKIDELTA 0:17f575135219 181 void loop();
HARUKIDELTA 0:17f575135219 182
HARUKIDELTA 0:17f575135219 183 void Init_PWM();
HARUKIDELTA 0:17f575135219 184 void Init_servo(); //サーボ初期化
HARUKIDELTA 0:17f575135219 185 void Init_sbus(); //SBUS初期化
HARUKIDELTA 0:17f575135219 186 void Init_sensors();
HARUKIDELTA 0:17f575135219 187 void DisplayClock(); //クロック状態確認
HARUKIDELTA 0:17f575135219 188
HARUKIDELTA 0:17f575135219 189 //センサの値取得
HARUKIDELTA 0:17f575135219 190 void SensingMPU();
HARUKIDELTA 0:17f575135219 191 void UpdateDist();
HARUKIDELTA 0:17f575135219 192
HARUKIDELTA 0:17f575135219 193 //void offsetRollPitch(float FirstROLL, float FirstPITCH);
HARUKIDELTA 0:17f575135219 194 //void TransYaw(float FirstYAW);
HARUKIDELTA 0:17f575135219 195 float TranslateNewYaw(float beforeYaw, float newzeroYaw);
HARUKIDELTA 0:17f575135219 196 void UpdateTargetAngle(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 197 void CalculateControlValue(float targetAngle[3], float controlValue[3]);
HARUKIDELTA 0:17f575135219 198 void UpdateAutoPWM(float controlValue[3]);
HARUKIDELTA 0:17f575135219 199 void ConvertPWMintoRAD(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 200 inline float CalcRatio(float value, float trim, float limit);
HARUKIDELTA 0:17f575135219 201 bool CheckSW_Up(Channel ch);
HARUKIDELTA 0:17f575135219 202 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
HARUKIDELTA 0:17f575135219 203 inline int16_t SetTHRinRatio(float ratio);
HARUKIDELTA 0:17f575135219 204
HARUKIDELTA 0:17f575135219 205 //sbus割り込み
HARUKIDELTA 0:17f575135219 206 void Update_PWM(); //マニュアル・自動モードのpwmデータを整形しpwm変数に入力
HARUKIDELTA 0:17f575135219 207 void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
HARUKIDELTA 0:17f575135219 208
HARUKIDELTA 0:17f575135219 209 //シリアル割り込み
HARUKIDELTA 0:17f575135219 210 void SendSerial(); //1文字きたら送り返す
HARUKIDELTA 0:17f575135219 211 void SendArray();
HARUKIDELTA 0:17f575135219 212 void getSF_Serial();
HARUKIDELTA 0:17f575135219 213 float ConvertByteintoFloat(char high, char low);
taknokolat 1:f383708a5a52 214 void ISR_Serial_Rx();
HARUKIDELTA 0:17f575135219 215
HARUKIDELTA 0:17f575135219 216 //SD設定
HARUKIDELTA 0:17f575135219 217 int GetParameter(FILE *fp, const char *paramName,char parameter[]);
HARUKIDELTA 0:17f575135219 218 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE,
HARUKIDELTA 0:17f575135219 219 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD,
HARUKIDELTA 0:17f575135219 220 float *g_rightloopROLL, float *g_rightloopPITCH,
HARUKIDELTA 0:17f575135219 221 float *g_leftloopROLL, float *g_leftloopPITCH,
HARUKIDELTA 0:17f575135219 222 float *g_gostraightROLL, float *g_gostraightPITCH,
HARUKIDELTA 0:17f575135219 223 float *g_takeoffTHR, float *g_loopTHR,
HARUKIDELTA 0:17f575135219 224 float *g_rightloopROLLshort, float *g_rightloopPITCHshort,
HARUKIDELTA 0:17f575135219 225 float *g_leftloopROLLshort, float *g_leftloopPITCHshort,
HARUKIDELTA 0:17f575135219 226 float *g_glideloopROLL, float *g_glideloopPITCH);
HARUKIDELTA 0:17f575135219 227 //switch2割り込み
HARUKIDELTA 0:17f575135219 228 void ResetTrim();
HARUKIDELTA 0:17f575135219 229
HARUKIDELTA 0:17f575135219 230 //自動操縦
HARUKIDELTA 0:17f575135219 231 void UpdateTargetAngle_GoStraight(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 232 void UpdateTargetAngle_Rightloop(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 233 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 234 void UpdateTargetAngle_Leftloop(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 235 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 236 void UpdateTargetAngle_Moebius(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 237 void UpdateTargetAngle_Glide(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 238 void UpdateTargetAngle_Takeoff(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 239 void UpdateTargetAngle_Approach(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 240 void Take_off_and_landing(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 241
HARUKIDELTA 0:17f575135219 242 int Rotate(float targetAngle[3], float TargetYAW);
HARUKIDELTA 0:17f575135219 243
HARUKIDELTA 0:17f575135219 244 //投下
HARUKIDELTA 0:17f575135219 245 void Chicken_Drop();
HARUKIDELTA 0:17f575135219 246 void ReturnChickenServo1();
HARUKIDELTA 0:17f575135219 247 void ReturnChickenServo2();
HARUKIDELTA 0:17f575135219 248
HARUKIDELTA 0:17f575135219 249 //超音波による高度補正
HARUKIDELTA 0:17f575135219 250 void checkHeight(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 251 void UpdateTargetAngle_NoseUP(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 252 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
HARUKIDELTA 0:17f575135219 253
HARUKIDELTA 0:17f575135219 254 //デバッグ用
HARUKIDELTA 0:17f575135219 255 void DebugPrint();
HARUKIDELTA 0:17f575135219 256
HARUKIDELTA 0:17f575135219 257 /*---関数のプロトタイプ宣言終わり---*/
HARUKIDELTA 0:17f575135219 258
HARUKIDELTA 0:17f575135219 259 int main()
HARUKIDELTA 0:17f575135219 260 {
HARUKIDELTA 0:17f575135219 261 setup();
HARUKIDELTA 0:17f575135219 262
HARUKIDELTA 0:17f575135219 263
HARUKIDELTA 0:17f575135219 264 while(1){
HARUKIDELTA 0:17f575135219 265
HARUKIDELTA 0:17f575135219 266 loop();
HARUKIDELTA 0:17f575135219 267
taknokolat 10:652071c20bf6 268
taknokolat 10:652071c20bf6 269
HARUKIDELTA 0:17f575135219 270 if(!CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 271 led3=0;
HARUKIDELTA 0:17f575135219 272 }else{
HARUKIDELTA 0:17f575135219 273 led3=1;
HARUKIDELTA 0:17f575135219 274 }
HARUKIDELTA 0:17f575135219 275 }
HARUKIDELTA 0:17f575135219 276
HARUKIDELTA 0:17f575135219 277 }
HARUKIDELTA 0:17f575135219 278
HARUKIDELTA 0:17f575135219 279 void setup(){
HARUKIDELTA 0:17f575135219 280 //buzzer = 0;
HARUKIDELTA 0:17f575135219 281 led1 = 1;
HARUKIDELTA 0:17f575135219 282 led2 = 1;
HARUKIDELTA 0:17f575135219 283 led3 = 1;
HARUKIDELTA 0:17f575135219 284 led4 = 1;
HARUKIDELTA 0:17f575135219 285
HARUKIDELTA 0:17f575135219 286 SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
HARUKIDELTA 0:17f575135219 287 &g_kpRUD, &g_kiRUD, &g_kdRUD,
HARUKIDELTA 0:17f575135219 288 &g_rightloopROLL, &g_rightloopPITCH,
HARUKIDELTA 0:17f575135219 289 &g_leftloopROLL, &g_leftloopPITCH,
HARUKIDELTA 0:17f575135219 290 &g_gostraightROLL, &g_gostraightPITCH,
HARUKIDELTA 0:17f575135219 291 &g_takeoffTHR, &g_loopTHR,
HARUKIDELTA 0:17f575135219 292 &g_rightloopROLLshort, &g_rightloopPITCHshort,
HARUKIDELTA 0:17f575135219 293 &g_leftloopROLLshort, &g_leftloopPITCHshort,
HARUKIDELTA 0:17f575135219 294 &g_glideloopROLL, &g_glideloopPITCH);
HARUKIDELTA 0:17f575135219 295
HARUKIDELTA 0:17f575135219 296
HARUKIDELTA 0:17f575135219 297 Init_PWM();
HARUKIDELTA 0:17f575135219 298 Init_servo();
HARUKIDELTA 0:17f575135219 299 Init_sbus();
HARUKIDELTA 0:17f575135219 300 Init_sensors();
HARUKIDELTA 0:17f575135219 301 //switch2.rise(ResetTrim);
HARUKIDELTA 0:17f575135219 302 pc.attach(getSF_Serial, Serial::RxIrq);
taknokolat 10:652071c20bf6 303 //USsensor.attach(&UpdateDist, 0.05);
HARUKIDELTA 0:17f575135219 304
HARUKIDELTA 0:17f575135219 305 NVIC_SetPriority(USART1_IRQn,0);
HARUKIDELTA 0:17f575135219 306 NVIC_SetPriority(EXTI0_IRQn,1);
HARUKIDELTA 0:17f575135219 307 NVIC_SetPriority(TIM5_IRQn,2);
HARUKIDELTA 0:17f575135219 308 NVIC_SetPriority(EXTI9_5_IRQn,3);
HARUKIDELTA 0:17f575135219 309 NVIC_SetPriority(USART2_IRQn,4);
HARUKIDELTA 0:17f575135219 310 DisplayClock();
HARUKIDELTA 0:17f575135219 311 t.start();
HARUKIDELTA 0:17f575135219 312
HARUKIDELTA 0:17f575135219 313
HARUKIDELTA 0:17f575135219 314 pc.printf("MPU calibration start\r\n");
HARUKIDELTA 0:17f575135219 315
HARUKIDELTA 0:17f575135219 316 float offsetstart = t.read();
HARUKIDELTA 0:17f575135219 317 while(t.read() - offsetstart < 26){
HARUKIDELTA 0:17f575135219 318 SensingMPU();
HARUKIDELTA 0:17f575135219 319 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA 0:17f575135219 320 pc.printf("\r\n");
HARUKIDELTA 0:17f575135219 321 led1 = !led1;
HARUKIDELTA 0:17f575135219 322 led2 = !led2;
HARUKIDELTA 0:17f575135219 323 led3 = !led3;
HARUKIDELTA 0:17f575135219 324 led4 = !led4;
HARUKIDELTA 0:17f575135219 325 }
HARUKIDELTA 0:17f575135219 326
HARUKIDELTA 0:17f575135219 327 FirstROLL = nowAngle[ROLL];
HARUKIDELTA 0:17f575135219 328 FirstPITCH = nowAngle[PITCH];
HARUKIDELTA 0:17f575135219 329 nowAngle[ROLL] -=FirstROLL;
HARUKIDELTA 0:17f575135219 330 nowAngle[PITCH] -=FirstPITCH;
HARUKIDELTA 0:17f575135219 331
HARUKIDELTA 0:17f575135219 332 led1 = 0;
HARUKIDELTA 0:17f575135219 333 led2 = 0;
HARUKIDELTA 0:17f575135219 334 led3 = 0;
HARUKIDELTA 0:17f575135219 335 led4 = 0;
HARUKIDELTA 0:17f575135219 336 wait(0.2);
HARUKIDELTA 0:17f575135219 337
HARUKIDELTA 0:17f575135219 338
HARUKIDELTA 0:17f575135219 339 pc.printf("All initialized\r\n");
HARUKIDELTA 0:17f575135219 340 }
HARUKIDELTA 0:17f575135219 341
HARUKIDELTA 0:17f575135219 342 void loop(){
HARUKIDELTA 0:17f575135219 343 static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
HARUKIDELTA 0:17f575135219 344
HARUKIDELTA 0:17f575135219 345 SensingMPU();
taknokolat 10:652071c20bf6 346 NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA 0:17f575135219 347 UpdateTargetAngle(targetAngle);
HARUKIDELTA 0:17f575135219 348 //Rotate(targetAngle, 30.0);
HARUKIDELTA 0:17f575135219 349 CalculateControlValue(targetAngle, controlValue);
taknokolat 10:652071c20bf6 350 NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA 0:17f575135219 351 UpdateAutoPWM(controlValue);
taknokolat 10:652071c20bf6 352 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 10:652071c20bf6 353 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 10:652071c20bf6 354 wait_ms(20);
taknokolat 10:652071c20bf6 355 pc.printf("%c",g_landingcommand);
HARUKIDELTA 0:17f575135219 356 #if DEBUG_PRINT_INLOOP
HARUKIDELTA 0:17f575135219 357 DebugPrint();
HARUKIDELTA 0:17f575135219 358 #endif
HARUKIDELTA 0:17f575135219 359 }
HARUKIDELTA 0:17f575135219 360
HARUKIDELTA 0:17f575135219 361 //サーボ初期化関数
HARUKIDELTA 0:17f575135219 362 void Init_servo(){
HARUKIDELTA 0:17f575135219 363
HARUKIDELTA 0:17f575135219 364 servo1.period_ms(14);
HARUKIDELTA 0:17f575135219 365 servo1.pulsewidth_us(trimpwm[AIL_R]);
HARUKIDELTA 0:17f575135219 366
HARUKIDELTA 0:17f575135219 367 servo2.period_ms(14);
HARUKIDELTA 0:17f575135219 368 servo2.pulsewidth_us(trimpwm[ELE]);
HARUKIDELTA 0:17f575135219 369
HARUKIDELTA 0:17f575135219 370 servo3.period_ms(14);
HARUKIDELTA 0:17f575135219 371 servo3.pulsewidth_us(trimpwm[THR]);
HARUKIDELTA 0:17f575135219 372
HARUKIDELTA 0:17f575135219 373 servo4.period_ms(14);
HARUKIDELTA 0:17f575135219 374 servo4.pulsewidth_us(trimpwm[RUD]);
HARUKIDELTA 0:17f575135219 375
HARUKIDELTA 0:17f575135219 376 servo5.period_ms(14);
HARUKIDELTA 0:17f575135219 377 servo5.pulsewidth_us(1392);
HARUKIDELTA 0:17f575135219 378
HARUKIDELTA 0:17f575135219 379 servo6.period_ms(14);
HARUKIDELTA 0:17f575135219 380 servo6.pulsewidth_us(trimpwm[AIL_L]);
HARUKIDELTA 0:17f575135219 381
HARUKIDELTA 0:17f575135219 382 pc.printf("servo initialized\r\n");
HARUKIDELTA 0:17f575135219 383 }
HARUKIDELTA 0:17f575135219 384
HARUKIDELTA 0:17f575135219 385 //Sbus初期化
HARUKIDELTA 0:17f575135219 386 void Init_sbus(){
HARUKIDELTA 0:17f575135219 387 sbus.initialize();
HARUKIDELTA 0:17f575135219 388 sbus.setLastfuncPoint(Update_PWM);
HARUKIDELTA 0:17f575135219 389 sbus.startInterrupt();
HARUKIDELTA 0:17f575135219 390 }
HARUKIDELTA 0:17f575135219 391
HARUKIDELTA 0:17f575135219 392 void Init_sensors(){
HARUKIDELTA 0:17f575135219 393 if(mpu6050.setup() == -1){
HARUKIDELTA 0:17f575135219 394 pc.printf("failed initialize\r\n");
HARUKIDELTA 0:17f575135219 395 while(1){
HARUKIDELTA 0:17f575135219 396 led1 = 1; led2 = 0; led3 = 1; led4 = 0;
HARUKIDELTA 0:17f575135219 397 wait(1);
HARUKIDELTA 0:17f575135219 398 led1 = 0; led2 = 1; led3 = 0; led4 = 1;
HARUKIDELTA 0:17f575135219 399 wait(1);
HARUKIDELTA 0:17f575135219 400 }
HARUKIDELTA 0:17f575135219 401 }
HARUKIDELTA 0:17f575135219 402 }
HARUKIDELTA 0:17f575135219 403
HARUKIDELTA 0:17f575135219 404 void Init_PWM(){
HARUKIDELTA 2:23daa5fa28b4 405 for (uint8_t i = 0; i < 6; ++i){
HARUKIDELTA 0:17f575135219 406 trimpwm[i] = 1500 + (int16_t)(lengthdivpwm * (trim[i]/100));
HARUKIDELTA 0:17f575135219 407 maxpwm[i] = 1500 + (int16_t)(lengthdivpwm * (expMax[i]/100));
HARUKIDELTA 0:17f575135219 408 minpwm[i] = 1500 - (int16_t)(lengthdivpwm * (expMin[i]/100));
HARUKIDELTA 0:17f575135219 409 }
HARUKIDELTA 0:17f575135219 410 pc.printf("PWM initialized\r\n");
HARUKIDELTA 0:17f575135219 411 }
HARUKIDELTA 0:17f575135219 412
HARUKIDELTA 0:17f575135219 413 void DisplayClock(){
HARUKIDELTA 0:17f575135219 414 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
HARUKIDELTA 0:17f575135219 415 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
HARUKIDELTA 0:17f575135219 416 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
HARUKIDELTA 0:17f575135219 417 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
HARUKIDELTA 0:17f575135219 418 pc.printf("\r\n");
HARUKIDELTA 0:17f575135219 419 }
HARUKIDELTA 0:17f575135219 420
HARUKIDELTA 0:17f575135219 421 void UpdateTargetAngle(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 422 static int16_t count_op = 0;
HARUKIDELTA 0:17f575135219 423 #if DEBUG_SEMIAUTO
HARUKIDELTA 0:17f575135219 424 switch(operation_mode){
HARUKIDELTA 0:17f575135219 425 case StartUp:
HARUKIDELTA 0:17f575135219 426 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA 0:17f575135219 427 count_op++;
HARUKIDELTA 0:17f575135219 428 if(count_op > changeModeCount){
HARUKIDELTA 0:17f575135219 429 operation_mode = SemiAuto;
HARUKIDELTA 0:17f575135219 430 pc.printf("Goto SemiAuto mode\r\n");
HARUKIDELTA 0:17f575135219 431 count_op = 0;
HARUKIDELTA 0:17f575135219 432 }
HARUKIDELTA 0:17f575135219 433 }else count_op = 0;
HARUKIDELTA 0:17f575135219 434 break;
HARUKIDELTA 0:17f575135219 435
HARUKIDELTA 0:17f575135219 436 case SemiAuto:
HARUKIDELTA 0:17f575135219 437 /* 大会用では以下のif文を入れてoperation_modeを変える
HARUKIDELTA 0:17f575135219 438 if(CheckSW_Up(Ch6)){
HARUKIDELTA 0:17f575135219 439 count_op++;
HARUKIDELTA 0:17f575135219 440 if(count_op>changeModeCount){
HARUKIDELTA 0:17f575135219 441 output_status = XXX;
HARUKIDELTA 0:17f575135219 442 led2 = 0;
HARUKIDELTA 0:17f575135219 443 pc.printf("Goto XXX mode\r\n");
HARUKIDELTA 0:17f575135219 444 count_op = 0;
HARUKIDELTA 0:17f575135219 445 }else count_op = 0;
HARUKIDELTA 0:17f575135219 446 ConvertPWMintoRAD(targetAngle);
HARUKIDELTA 0:17f575135219 447 }
HARUKIDELTA 0:17f575135219 448 */
HARUKIDELTA 0:17f575135219 449 ConvertPWMintoRAD(targetAngle);
HARUKIDELTA 0:17f575135219 450 break;
HARUKIDELTA 0:17f575135219 451
HARUKIDELTA 0:17f575135219 452 default:
HARUKIDELTA 0:17f575135219 453 operation_mode = SemiAuto;
HARUKIDELTA 0:17f575135219 454 break;
HARUKIDELTA 0:17f575135219 455 }
HARUKIDELTA 0:17f575135219 456
HARUKIDELTA 0:17f575135219 457 #else
HARUKIDELTA 0:17f575135219 458
HARUKIDELTA 0:17f575135219 459 switch(operation_mode){
HARUKIDELTA 0:17f575135219 460 case StartUp:
HARUKIDELTA 0:17f575135219 461 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ //ch7;自動・手動切り替え　ch8;自動操縦モード切替
HARUKIDELTA 0:17f575135219 462 count_op++;
HARUKIDELTA 0:17f575135219 463 if(count_op > changeModeCount){
HARUKIDELTA 0:17f575135219 464 operation_mode = RightLoop;
HARUKIDELTA 0:17f575135219 465 pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA 0:17f575135219 466 count_op = 0;
HARUKIDELTA 0:17f575135219 467 }
HARUKIDELTA 0:17f575135219 468 }else count_op = 0;
HARUKIDELTA 0:17f575135219 469 break;
HARUKIDELTA 0:17f575135219 470
HARUKIDELTA 0:17f575135219 471 case RightLoop:
HARUKIDELTA 0:17f575135219 472 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA 0:17f575135219 473 count_op++;
HARUKIDELTA 0:17f575135219 474 if(count_op > changeModeCount){
HARUKIDELTA 0:17f575135219 475 operation_mode = LeftLoop;
HARUKIDELTA 0:17f575135219 476 pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA 0:17f575135219 477 count_op = 0;
HARUKIDELTA 0:17f575135219 478 }
HARUKIDELTA 0:17f575135219 479 }else count_op = 0;
HARUKIDELTA 0:17f575135219 480 UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA 0:17f575135219 481
HARUKIDELTA 0:17f575135219 482 break;
HARUKIDELTA 0:17f575135219 483
HARUKIDELTA 0:17f575135219 484 case LeftLoop:
HARUKIDELTA 0:17f575135219 485 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA 0:17f575135219 486 count_op++;
HARUKIDELTA 0:17f575135219 487 if(count_op > changeModeCount){
HARUKIDELTA 0:17f575135219 488 operation_mode = GoStraight;
HARUKIDELTA 0:17f575135219 489 pc.printf("Goto GoStraight mode\r\n");
HARUKIDELTA 0:17f575135219 490 count_op = 0;
HARUKIDELTA 0:17f575135219 491 }
HARUKIDELTA 0:17f575135219 492 }else count_op = 0;
HARUKIDELTA 0:17f575135219 493 UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA 0:17f575135219 494 break;
HARUKIDELTA 0:17f575135219 495
HARUKIDELTA 0:17f575135219 496 case GoStraight:
HARUKIDELTA 0:17f575135219 497 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA 0:17f575135219 498 count_op++;
HARUKIDELTA 0:17f575135219 499 if(count_op > changeModeCount){
HARUKIDELTA 0:17f575135219 500 operation_mode = Moebius;
HARUKIDELTA 0:17f575135219 501 pc.printf("Goto Moebius mode\r\n");
HARUKIDELTA 0:17f575135219 502 count_op = 0;
HARUKIDELTA 0:17f575135219 503 }
HARUKIDELTA 0:17f575135219 504 }else count_op = 0;
HARUKIDELTA 0:17f575135219 505 UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA 0:17f575135219 506 break;
HARUKIDELTA 0:17f575135219 507
HARUKIDELTA 0:17f575135219 508 case Moebius:
HARUKIDELTA 0:17f575135219 509 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA 0:17f575135219 510 count_op++;
HARUKIDELTA 0:17f575135219 511 if(count_op > changeModeCount){
HARUKIDELTA 0:17f575135219 512 operation_mode = Glide;
HARUKIDELTA 0:17f575135219 513 pc.printf("Goto Glide mode\r\n");
HARUKIDELTA 0:17f575135219 514 count_op = 0;
HARUKIDELTA 0:17f575135219 515 }
HARUKIDELTA 0:17f575135219 516 }else count_op = 0;
HARUKIDELTA 0:17f575135219 517 UpdateTargetAngle_Moebius(targetAngle);
HARUKIDELTA 0:17f575135219 518 break;
HARUKIDELTA 0:17f575135219 519
HARUKIDELTA 0:17f575135219 520 case Glide:
HARUKIDELTA 0:17f575135219 521 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA 0:17f575135219 522 count_op++;
HARUKIDELTA 0:17f575135219 523 if(count_op > changeModeCount){
HARUKIDELTA 0:17f575135219 524 operation_mode = BombwithPC;
HARUKIDELTA 0:17f575135219 525 pc.printf("Goto Bombing mode\r\n");
HARUKIDELTA 0:17f575135219 526 count_op = 0;
HARUKIDELTA 0:17f575135219 527 }
HARUKIDELTA 0:17f575135219 528 }else count_op = 0;
HARUKIDELTA 0:17f575135219 529 UpdateTargetAngle_Glide(targetAngle);
HARUKIDELTA 0:17f575135219 530 break;
HARUKIDELTA 0:17f575135219 531
HARUKIDELTA 0:17f575135219 532 case BombwithPC:
HARUKIDELTA 0:17f575135219 533 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA 0:17f575135219 534 count_op++;
HARUKIDELTA 0:17f575135219 535 if(count_op > changeModeCount){
HARUKIDELTA 0:17f575135219 536 operation_mode = RightLoop;
HARUKIDELTA 0:17f575135219 537 pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA 0:17f575135219 538 count_op = 0;
HARUKIDELTA 0:17f575135219 539 }
HARUKIDELTA 0:17f575135219 540 }else count_op = 0;
HARUKIDELTA 0:17f575135219 541 Take_off_and_landing(targetAngle);
HARUKIDELTA 0:17f575135219 542 break;
HARUKIDELTA 0:17f575135219 543
HARUKIDELTA 0:17f575135219 544 default:
HARUKIDELTA 0:17f575135219 545 operation_mode = StartUp;
HARUKIDELTA 0:17f575135219 546 break;
HARUKIDELTA 0:17f575135219 547 }
HARUKIDELTA 0:17f575135219 548 #endif
HARUKIDELTA 0:17f575135219 549
HARUKIDELTA 0:17f575135219 550 if(CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 551 output_status = Auto;
HARUKIDELTA 0:17f575135219 552 led1 = 1;
HARUKIDELTA 0:17f575135219 553 }else{
HARUKIDELTA 0:17f575135219 554 output_status = Manual;
HARUKIDELTA 0:17f575135219 555 led1 = 0;
HARUKIDELTA 0:17f575135219 556 }
HARUKIDELTA 0:17f575135219 557 }
HARUKIDELTA 0:17f575135219 558
HARUKIDELTA 0:17f575135219 559 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
HARUKIDELTA 0:17f575135219 560 int i=0, j=0;
HARUKIDELTA 0:17f575135219 561 int strmax = 200;
HARUKIDELTA 0:17f575135219 562 char str[strmax];
HARUKIDELTA 0:17f575135219 563
HARUKIDELTA 0:17f575135219 564 rewind(fp); //ファイル位置を先頭に
HARUKIDELTA 0:17f575135219 565 while(1){
HARUKIDELTA 0:17f575135219 566 if (fgets(str, strmax, fp) == NULL) {
HARUKIDELTA 0:17f575135219 567 return 0;
HARUKIDELTA 0:17f575135219 568 }
HARUKIDELTA 0:17f575135219 569 if (!strncmp(str, paramName, strlen(paramName))) {
HARUKIDELTA 0:17f575135219 570 while (str[i++] != '=') {}
HARUKIDELTA 0:17f575135219 571 while (str[i] != '\n') {
HARUKIDELTA 0:17f575135219 572 parameter[j++] = str[i++];
HARUKIDELTA 0:17f575135219 573 }
HARUKIDELTA 0:17f575135219 574 parameter[j] = '\0';
HARUKIDELTA 0:17f575135219 575 return 1;
HARUKIDELTA 0:17f575135219 576 }
HARUKIDELTA 0:17f575135219 577 }
HARUKIDELTA 0:17f575135219 578 return 0;
HARUKIDELTA 0:17f575135219 579 }
HARUKIDELTA 0:17f575135219 580
HARUKIDELTA 0:17f575135219 581
HARUKIDELTA 0:17f575135219 582 //sdによる設定
HARUKIDELTA 0:17f575135219 583 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE,
HARUKIDELTA 0:17f575135219 584 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD,
HARUKIDELTA 0:17f575135219 585 float *g_rightloopROLL, float *g_rightloopPITCH,
HARUKIDELTA 0:17f575135219 586 float *g_leftloopROLL, float *g_leftloopPITCH,
HARUKIDELTA 0:17f575135219 587 float *g_gostraightROLL, float *g_gostraightPITCH,
HARUKIDELTA 0:17f575135219 588 float *g_takeoffTHR, float *g_loopTHR,
HARUKIDELTA 0:17f575135219 589 float *g_rightloopROLLshort, float *g_rightloopPITCHshort,
HARUKIDELTA 0:17f575135219 590 float *g_leftloopROLLshort, float *g_leftloopPITCHshort,
HARUKIDELTA 0:17f575135219 591 float *g_glideloopROLL, float *g_glideloopPITCH
HARUKIDELTA 0:17f575135219 592 ){
HARUKIDELTA 0:17f575135219 593
HARUKIDELTA 0:17f575135219 594 pc.printf("SDsetup start.\r\n");
HARUKIDELTA 0:17f575135219 595
HARUKIDELTA 0:17f575135219 596 FILE *fp;
HARUKIDELTA 0:17f575135219 597 char parameter[30]; //文字列渡す用の配列
HARUKIDELTA 0:17f575135219 598 int SDerrorcount = 0; //取得できなかった数を返す
HARUKIDELTA 0:17f575135219 599 const char *paramNames[] = {
HARUKIDELTA 0:17f575135219 600 "KP_ELEVATOR",
HARUKIDELTA 0:17f575135219 601 "KI_ELEVATOR",
HARUKIDELTA 0:17f575135219 602 "KD_ELEVATOR",
HARUKIDELTA 0:17f575135219 603 "KP_RUDDER",
HARUKIDELTA 0:17f575135219 604 "KI_RUDDER",
HARUKIDELTA 0:17f575135219 605 "KD_RUDDER",
HARUKIDELTA 0:17f575135219 606 "RIGHTLOOP_ROLL",
HARUKIDELTA 0:17f575135219 607 "RIGHTLOOP_PITCH",
HARUKIDELTA 0:17f575135219 608 "LEFTLOOP_ROLL",
HARUKIDELTA 0:17f575135219 609 "LEFTLOOP_PITCH",
HARUKIDELTA 0:17f575135219 610 "GOSTRAIGHT_ROLL",
HARUKIDELTA 0:17f575135219 611 "GOSTRAIGHT_PITCH",
HARUKIDELTA 0:17f575135219 612 "TAKEOFF_THR_RATE",
HARUKIDELTA 0:17f575135219 613 "LOOP_THR_RATE",
HARUKIDELTA 0:17f575135219 614 "RIGHTLOOP_ROLL_SHORT",
HARUKIDELTA 0:17f575135219 615 "RIGHTLOOP_PITCH_SHORT",
HARUKIDELTA 0:17f575135219 616 "LEFTLOOP_ROLL_SHORT",
HARUKIDELTA 0:17f575135219 617 "LEFTLOOP_PITCH_SHORT",
HARUKIDELTA 0:17f575135219 618 "AUTOGLIDE_ROLL",
HARUKIDELTA 0:17f575135219 619 "AUTOGLIDE PITCH"
HARUKIDELTA 0:17f575135219 620 };
HARUKIDELTA 0:17f575135219 621
HARUKIDELTA 0:17f575135219 622 fp = fopen("/sd/option.txt","r");
HARUKIDELTA 0:17f575135219 623
HARUKIDELTA 0:17f575135219 624 if(fp != NULL){ //開けたら
HARUKIDELTA 0:17f575135219 625 pc.printf("File was openned.\r\n");
HARUKIDELTA 0:17f575135219 626 if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
HARUKIDELTA 0:17f575135219 627 else{ *g_kpELE = KP_ELE;
HARUKIDELTA 0:17f575135219 628 SDerrorcount++;
HARUKIDELTA 0:17f575135219 629 }
HARUKIDELTA 0:17f575135219 630 if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
HARUKIDELTA 0:17f575135219 631 else{ *g_kiELE = KI_ELE;
HARUKIDELTA 0:17f575135219 632 SDerrorcount++;
HARUKIDELTA 0:17f575135219 633 }
HARUKIDELTA 0:17f575135219 634 if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
HARUKIDELTA 0:17f575135219 635 else{ *g_kdELE = KD_ELE;
HARUKIDELTA 0:17f575135219 636 SDerrorcount++;
HARUKIDELTA 0:17f575135219 637 }
HARUKIDELTA 0:17f575135219 638 if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
HARUKIDELTA 0:17f575135219 639 else{ *g_kpRUD = KP_RUD;
HARUKIDELTA 0:17f575135219 640 SDerrorcount++;
HARUKIDELTA 0:17f575135219 641 }
HARUKIDELTA 0:17f575135219 642 if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
HARUKIDELTA 0:17f575135219 643 else{ *g_kiRUD = KI_RUD;
HARUKIDELTA 0:17f575135219 644 SDerrorcount++;
HARUKIDELTA 0:17f575135219 645 }
HARUKIDELTA 0:17f575135219 646 if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
HARUKIDELTA 0:17f575135219 647 else{ *g_kdRUD = KD_RUD;
HARUKIDELTA 0:17f575135219 648 SDerrorcount++;
HARUKIDELTA 0:17f575135219 649 }
HARUKIDELTA 0:17f575135219 650 if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
HARUKIDELTA 0:17f575135219 651 else{ *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA 0:17f575135219 652 SDerrorcount++;
HARUKIDELTA 0:17f575135219 653 }
HARUKIDELTA 0:17f575135219 654 if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
HARUKIDELTA 0:17f575135219 655 else{ *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA 0:17f575135219 656 SDerrorcount++;
HARUKIDELTA 0:17f575135219 657 }
HARUKIDELTA 0:17f575135219 658 if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
HARUKIDELTA 0:17f575135219 659 else{ *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA 0:17f575135219 660 SDerrorcount++;
HARUKIDELTA 0:17f575135219 661 }
HARUKIDELTA 0:17f575135219 662 if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
HARUKIDELTA 0:17f575135219 663 else{ *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA 0:17f575135219 664 SDerrorcount++;
HARUKIDELTA 0:17f575135219 665 }
HARUKIDELTA 0:17f575135219 666 if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
HARUKIDELTA 0:17f575135219 667 else{ *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA 0:17f575135219 668 SDerrorcount++;
HARUKIDELTA 0:17f575135219 669 }
HARUKIDELTA 0:17f575135219 670 if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
HARUKIDELTA 0:17f575135219 671 else{ *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA 0:17f575135219 672 SDerrorcount++;
HARUKIDELTA 0:17f575135219 673 }
HARUKIDELTA 0:17f575135219 674 if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
HARUKIDELTA 0:17f575135219 675 else{ *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA 0:17f575135219 676 SDerrorcount++;
HARUKIDELTA 0:17f575135219 677 }
HARUKIDELTA 0:17f575135219 678 if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
HARUKIDELTA 0:17f575135219 679 else{ *g_loopTHR = LOOP_THR;
HARUKIDELTA 0:17f575135219 680 SDerrorcount++;
HARUKIDELTA 0:17f575135219 681 }
HARUKIDELTA 0:17f575135219 682 if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
HARUKIDELTA 0:17f575135219 683 else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
HARUKIDELTA 0:17f575135219 684 SDerrorcount++;
HARUKIDELTA 0:17f575135219 685 }
HARUKIDELTA 0:17f575135219 686 if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
HARUKIDELTA 0:17f575135219 687 else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
HARUKIDELTA 0:17f575135219 688 SDerrorcount++;
HARUKIDELTA 0:17f575135219 689 }
HARUKIDELTA 0:17f575135219 690 if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
HARUKIDELTA 0:17f575135219 691 else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
HARUKIDELTA 0:17f575135219 692 SDerrorcount++;
HARUKIDELTA 0:17f575135219 693 }
HARUKIDELTA 0:17f575135219 694 if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
HARUKIDELTA 0:17f575135219 695 else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
HARUKIDELTA 0:17f575135219 696 SDerrorcount++;
HARUKIDELTA 0:17f575135219 697 }
HARUKIDELTA 0:17f575135219 698 if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
HARUKIDELTA 0:17f575135219 699 else{ *g_glideloopROLL = GLIDE_ROLL;
HARUKIDELTA 0:17f575135219 700 SDerrorcount++;
HARUKIDELTA 0:17f575135219 701 }
HARUKIDELTA 0:17f575135219 702 if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
HARUKIDELTA 0:17f575135219 703 else{ *g_glideloopPITCH = GLIDE_PITCH;
HARUKIDELTA 0:17f575135219 704 SDerrorcount++;
HARUKIDELTA 0:17f575135219 705 }
HARUKIDELTA 0:17f575135219 706 fclose(fp);
HARUKIDELTA 0:17f575135219 707
HARUKIDELTA 0:17f575135219 708 }else{ //ファイルがなかったら
HARUKIDELTA 0:17f575135219 709 pc.printf("fp was null.\r\n");
HARUKIDELTA 0:17f575135219 710 *g_kpELE = KP_ELE;
HARUKIDELTA 0:17f575135219 711 *g_kiELE = KI_ELE;
HARUKIDELTA 0:17f575135219 712 *g_kdELE = KD_ELE;
HARUKIDELTA 0:17f575135219 713 *g_kpRUD = KP_RUD;
HARUKIDELTA 0:17f575135219 714 *g_kiRUD = KI_RUD;
HARUKIDELTA 0:17f575135219 715 *g_kdRUD = KD_RUD;
HARUKIDELTA 0:17f575135219 716 *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA 0:17f575135219 717 *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA 0:17f575135219 718 *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA 0:17f575135219 719 *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA 0:17f575135219 720 *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA 0:17f575135219 721 *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA 0:17f575135219 722 *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA 0:17f575135219 723 *g_loopTHR = LOOP_THR;
HARUKIDELTA 0:17f575135219 724 SDerrorcount = -1;
HARUKIDELTA 0:17f575135219 725 }
HARUKIDELTA 0:17f575135219 726 pc.printf("SDsetup finished.\r\n");
HARUKIDELTA 0:17f575135219 727 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
HARUKIDELTA 0:17f575135219 728 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
HARUKIDELTA 0:17f575135219 729 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
HARUKIDELTA 0:17f575135219 730
HARUKIDELTA 0:17f575135219 731 pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD);
HARUKIDELTA 0:17f575135219 732 pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE);
HARUKIDELTA 0:17f575135219 733 pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH);
HARUKIDELTA 0:17f575135219 734 pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH);
HARUKIDELTA 0:17f575135219 735 pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH);
HARUKIDELTA 0:17f575135219 736 pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR);
HARUKIDELTA 0:17f575135219 737 pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort);
HARUKIDELTA 0:17f575135219 738 pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort);
HARUKIDELTA 0:17f575135219 739 pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH);
HARUKIDELTA 0:17f575135219 740
HARUKIDELTA 0:17f575135219 741 return SDerrorcount;
HARUKIDELTA 0:17f575135219 742 }
HARUKIDELTA 0:17f575135219 743
HARUKIDELTA 0:17f575135219 744 void CalculateControlValue(float targetAngle[3], float controlValue[3]){
HARUKIDELTA 0:17f575135219 745 static int t_last;
HARUKIDELTA 0:17f575135219 746 int t_now;
HARUKIDELTA 0:17f575135219 747 float dt;
HARUKIDELTA 0:17f575135219 748
HARUKIDELTA 0:17f575135219 749 t_now = t.read_us();
HARUKIDELTA 0:17f575135219 750 dt = (float)((t_now - t_last)/1000000.0f) ;
HARUKIDELTA 0:17f575135219 751 t_last = t_now;
HARUKIDELTA 0:17f575135219 752
taknokolat 1:f383708a5a52 753
taknokolat 1:f383708a5a52 754 //controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
taknokolat 1:f383708a5a52 755 controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御
HARUKIDELTA 0:17f575135219 756 controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
HARUKIDELTA 0:17f575135219 757 }
HARUKIDELTA 0:17f575135219 758
HARUKIDELTA 0:17f575135219 759 void UpdateAutoPWM(float controlValue[3]){
HARUKIDELTA 0:17f575135219 760 int16_t addpwm[2]; //-500~500
HARUKIDELTA 0:17f575135219 761 addpwm[PITCH] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[PITCH]; //センサ：機首下げ正 レバー:機首上げ正
HARUKIDELTA 0:17f575135219 762 addpwm[ROLL] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[ROLL]; //センサ：右回転正（8月13日時点；左回転が正！） レバー:右回転正
HARUKIDELTA 0:17f575135219 763
HARUKIDELTA 2:23daa5fa28b4 764 autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite
HARUKIDELTA 8:66bba39b95a9 765 autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
HARUKIDELTA 0:17f575135219 766 //autopwm[THR] = oldTHR;
HARUKIDELTA 0:17f575135219 767
HARUKIDELTA 0:17f575135219 768 autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
taknokolat 1:f383708a5a52 769 autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]);
HARUKIDELTA 2:23daa5fa28b4 770
HARUKIDELTA 0:17f575135219 771 }
HARUKIDELTA 0:17f575135219 772
HARUKIDELTA 0:17f575135219 773 inline float CalcRatio(float value, float trim, float limit){
HARUKIDELTA 0:17f575135219 774 return (value - trim) / (limit - trim);
HARUKIDELTA 0:17f575135219 775 }
HARUKIDELTA 0:17f575135219 776
HARUKIDELTA 0:17f575135219 777 bool CheckSW_Up(Channel ch){
HARUKIDELTA 0:17f575135219 778 if(SWITCH_CHECK < sbus.manualpwm[ch]){
HARUKIDELTA 0:17f575135219 779 return true;
HARUKIDELTA 0:17f575135219 780 }else{
HARUKIDELTA 0:17f575135219 781 return false;
HARUKIDELTA 0:17f575135219 782 }
HARUKIDELTA 0:17f575135219 783 }
HARUKIDELTA 0:17f575135219 784
HARUKIDELTA 0:17f575135219 785 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
HARUKIDELTA 0:17f575135219 786 if(value > max) return max;
HARUKIDELTA 0:17f575135219 787 if(value < min) return min;
HARUKIDELTA 0:17f575135219 788 return value;
HARUKIDELTA 0:17f575135219 789 }
HARUKIDELTA 0:17f575135219 790
HARUKIDELTA 0:17f575135219 791 inline int16_t SetTHRinRatio(float ratio){
HARUKIDELTA 0:17f575135219 792 return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
HARUKIDELTA 0:17f575135219 793 }
HARUKIDELTA 0:17f575135219 794
HARUKIDELTA 2:23daa5fa28b4 795
HARUKIDELTA 2:23daa5fa28b4 796
HARUKIDELTA 0:17f575135219 797 /*---SBUS割り込み処理---*/
HARUKIDELTA 0:17f575135219 798
HARUKIDELTA 0:17f575135219 799 //udate_Inputで抽出したpwmデータを整形して各変数に代入する。(マニュアルモード)
HARUKIDELTA 0:17f575135219 800 //各stabiGylo関数で算出したpwmを各変数に代入する(自動モード)
HARUKIDELTA 0:17f575135219 801 void Update_PWM()
HARUKIDELTA 0:17f575135219 802 {
HARUKIDELTA 0:17f575135219 803 static int16_t pwm[6];
HARUKIDELTA 0:17f575135219 804 static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]};
HARUKIDELTA 0:17f575135219 805 if(sbus.flg_ch_update == true){
taknokolat 10:652071c20bf6 806 NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA 0:17f575135219 807 switch(output_status){ //マニュアルモード,自動モード,自動着陸もモードを切替
HARUKIDELTA 0:17f575135219 808 case Manual:
HARUKIDELTA 0:17f575135219 809 for(uint8_t i=0;i<6;i++){
taknokolat 1:f383708a5a52 810 pwm[i] = sbus.manualpwm[i];
HARUKIDELTA 0:17f575135219 811 }
HARUKIDELTA 2:23daa5fa28b4 812 /*pc.printf("%d ,",pwm[0]);//R
HARUKIDELTA 2:23daa5fa28b4 813 pc.printf("%d ,\r\n",pwm[5]);//L*/
HARUKIDELTA 0:17f575135219 814 oldTHR = sbus.manualpwm[THR];
HARUKIDELTA 0:17f575135219 815 //pc.printf("update_manual\r\n");
HARUKIDELTA 0:17f575135219 816 break;
HARUKIDELTA 0:17f575135219 817
HARUKIDELTA 0:17f575135219 818 case Auto:
HARUKIDELTA 0:17f575135219 819 pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL];
HARUKIDELTA 0:17f575135219 820 pwm[ELE] = autopwm[ELE];
HARUKIDELTA 0:17f575135219 821 pwm[THR] = autopwm[THR];
HARUKIDELTA 0:17f575135219 822 pwm[RUD] = autopwm[RUD];
HARUKIDELTA 0:17f575135219 823 pwm[DROP] = autopwm[DROP];
HARUKIDELTA 0:17f575135219 824 pwm[AIL_L] = autopwm[AIL_L];
taknokolat 10:652071c20bf6 825 //pc.printf("%d ,",pwm[AIL_R]);//R
taknokolat 10:652071c20bf6 826 //pc.printf("%d ,\r\n",pwm[AIL_L]);//L
HARUKIDELTA 0:17f575135219 827 //pc.printf("update_auto\r\n");
HARUKIDELTA 2:23daa5fa28b4 828
HARUKIDELTA 0:17f575135219 829 break;
HARUKIDELTA 0:17f575135219 830
HARUKIDELTA 0:17f575135219 831 default:
HARUKIDELTA 0:17f575135219 832 for(uint8_t i=0;i<6;i++){
HARUKIDELTA 0:17f575135219 833 pwm[i] = sbus.manualpwm[i];
HARUKIDELTA 0:17f575135219 834 } //pc.printf("update_manual\r\n");
HARUKIDELTA 0:17f575135219 835 break;
taknokolat 10:652071c20bf6 836 NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA 0:17f575135219 837 }
HARUKIDELTA 0:17f575135219 838 for(uint8_t i=0;i<6;i++){
HARUKIDELTA 0:17f575135219 839 if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i];
HARUKIDELTA 0:17f575135219 840 temppwm[i]=pwm[i];
HARUKIDELTA 0:17f575135219 841 }
HARUKIDELTA 0:17f575135219 842 }else{
HARUKIDELTA 0:17f575135219 843 pc.printf("0\r\n");
HARUKIDELTA 0:17f575135219 844 }
HARUKIDELTA 0:17f575135219 845 sbus.flg_ch_update = false;
HARUKIDELTA 0:17f575135219 846 Output_PWM(pwm);
HARUKIDELTA 0:17f575135219 847 }
HARUKIDELTA 0:17f575135219 848
HARUKIDELTA 0:17f575135219 849
HARUKIDELTA 0:17f575135219 850 //pwmをサーボに出力。
HARUKIDELTA 0:17f575135219 851 void Output_PWM(int16_t pwm[5])
HARUKIDELTA 0:17f575135219 852 {
taknokolat 10:652071c20bf6 853 NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA 0:17f575135219 854 servo1.pulsewidth_us(pwm[0]);
HARUKIDELTA 0:17f575135219 855 servo2.pulsewidth_us(pwm[1]);
HARUKIDELTA 0:17f575135219 856 servo3.pulsewidth_us(pwm[2]);
HARUKIDELTA 0:17f575135219 857 servo4.pulsewidth_us(pwm[3]);
HARUKIDELTA 0:17f575135219 858 servo5.pulsewidth_us(pwm[4]);
HARUKIDELTA 0:17f575135219 859 servo6.pulsewidth_us(pwm[5]);
taknokolat 10:652071c20bf6 860 NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA 0:17f575135219 861
HARUKIDELTA 0:17f575135219 862 }
HARUKIDELTA 0:17f575135219 863
HARUKIDELTA 0:17f575135219 864 void ResetTrim(){
HARUKIDELTA 0:17f575135219 865 for(uint8_t i=0; i<6; i++){ //i=4から書き換え＿投下サーボは入ってない模様
HARUKIDELTA 0:17f575135219 866 trimpwm[i] = sbus.manualpwm[i];
HARUKIDELTA 0:17f575135219 867 }
HARUKIDELTA 0:17f575135219 868 pc.printf("reset PWM trim\r\n");
HARUKIDELTA 0:17f575135219 869 }
HARUKIDELTA 0:17f575135219 870
HARUKIDELTA 0:17f575135219 871
HARUKIDELTA 0:17f575135219 872 void SensingMPU(){
HARUKIDELTA 0:17f575135219 873 //static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA 0:17f575135219 874 //t_start = t.read_us();
HARUKIDELTA 0:17f575135219 875
HARUKIDELTA 0:17f575135219 876 float rpy[3] = {0}, oldrpy[3] = {0};
HARUKIDELTA 0:17f575135219 877 static uint16_t count_changeRPY = 0;
HARUKIDELTA 0:17f575135219 878 static bool flg_checkoutlier = false;
HARUKIDELTA 0:17f575135219 879 NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA 0:17f575135219 880 NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA 0:17f575135219 881 NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 10:652071c20bf6 882 NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止
taknokolat 10:652071c20bf6 883 NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止
HARUKIDELTA 0:17f575135219 884
HARUKIDELTA 0:17f575135219 885 mpu6050.getRollPitchYaw_Skipper(rpy);
HARUKIDELTA 0:17f575135219 886
HARUKIDELTA 0:17f575135219 887 NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA 0:17f575135219 888 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:17f575135219 889 NVIC_EnableIRQ(TIM5_IRQn);
HARUKIDELTA 0:17f575135219 890 NVIC_EnableIRQ(EXTI0_IRQn);
HARUKIDELTA 0:17f575135219 891 NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA 0:17f575135219 892
HARUKIDELTA 0:17f575135219 893
HARUKIDELTA 0:17f575135219 894 //外れ値対策
HARUKIDELTA 0:17f575135219 895 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
HARUKIDELTA 0:17f575135219 896 rpy[ROLL] -= FirstROLL;
HARUKIDELTA 0:17f575135219 897 rpy[PITCH] -= FirstPITCH;
HARUKIDELTA 0:17f575135219 898 rpy[YAW] -= FirstYAW;
HARUKIDELTA 0:17f575135219 899
HARUKIDELTA 0:17f575135219 900 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}}
HARUKIDELTA 0:17f575135219 901 if(!flg_checkoutlier || count_changeRPY >= 2){
HARUKIDELTA 0:17f575135219 902 for(uint8_t i=0; i<3; i++){
HARUKIDELTA 0:17f575135219 903 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
HARUKIDELTA 0:17f575135219 904 }
HARUKIDELTA 0:17f575135219 905 count_changeRPY = 0;
HARUKIDELTA 0:17f575135219 906 }else count_changeRPY++;
HARUKIDELTA 0:17f575135219 907 flg_checkoutlier = false;
HARUKIDELTA 0:17f575135219 908
HARUKIDELTA 0:17f575135219 909 }
HARUKIDELTA 0:17f575135219 910
HARUKIDELTA 0:17f575135219 911 float TranslateNewYaw(float beforeYaw, float newzeroYaw){
HARUKIDELTA 0:17f575135219 912 float newYaw = beforeYaw - newzeroYaw;
HARUKIDELTA 0:17f575135219 913
HARUKIDELTA 0:17f575135219 914 if(newYaw<-180.0f) newYaw += 360.0f;
HARUKIDELTA 0:17f575135219 915 else if(newYaw>180.0f) newYaw -= 360.0f;
HARUKIDELTA 0:17f575135219 916 return newYaw;
HARUKIDELTA 0:17f575135219 917 }
HARUKIDELTA 0:17f575135219 918
HARUKIDELTA 0:17f575135219 919
HARUKIDELTA 0:17f575135219 920 void getSF_Serial(){
HARUKIDELTA 0:17f575135219 921
HARUKIDELTA 0:17f575135219 922 static char SFbuf[16];
HARUKIDELTA 0:17f575135219 923 static int bufcounter=0;
HARUKIDELTA 0:17f575135219 924
taknokolat 10:652071c20bf6 925 pc.printf("%d",bufcounter);
taknokolat 10:652071c20bf6 926
HARUKIDELTA 0:17f575135219 927 SFbuf[bufcounter]=pc.getc();
HARUKIDELTA 0:17f575135219 928 if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++;
HARUKIDELTA 0:17f575135219 929
HARUKIDELTA 0:17f575135219 930 if(bufcounter==5 && SFbuf[4]=='F'){
HARUKIDELTA 0:17f575135219 931 g_landingcommand = SFbuf[1];
HARUKIDELTA 0:17f575135219 932 if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
HARUKIDELTA 0:17f575135219 933 bufcounter = 0;
HARUKIDELTA 0:17f575135219 934 memset(SFbuf, 0, strlen(SFbuf));
taknokolat 10:652071c20bf6 935 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
HARUKIDELTA 0:17f575135219 936 }
taknokolat 10:652071c20bf6 937 else if(bufcounter>=5 ){
HARUKIDELTA 0:17f575135219 938 pc.printf("Communication Falsed.\r\n");
HARUKIDELTA 0:17f575135219 939 bufcounter = 0;
HARUKIDELTA 0:17f575135219 940 }
HARUKIDELTA 0:17f575135219 941 }
HARUKIDELTA 0:17f575135219 942
HARUKIDELTA 0:17f575135219 943 float ConvertByteintoFloat(char high, char low){
HARUKIDELTA 0:17f575135219 944
HARUKIDELTA 0:17f575135219 945 //int16_t intvalue = (int16_t)high*256 + (int16_t)low;
HARUKIDELTA 0:17f575135219 946 int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA 0:17f575135219 947 float floatvalue = (float)intvalue;
HARUKIDELTA 0:17f575135219 948 return floatvalue;
HARUKIDELTA 0:17f575135219 949 }
HARUKIDELTA 0:17f575135219 950
HARUKIDELTA 0:17f575135219 951
HARUKIDELTA 0:17f575135219 952 //超音波割り込み
taknokolat 10:652071c20bf6 953 /*void UpdateDist(){
HARUKIDELTA 0:17f575135219 954 g_distance = usensor.get_dist_cm();
HARUKIDELTA 0:17f575135219 955 usensor.start();
taknokolat 10:652071c20bf6 956 }*/
HARUKIDELTA 0:17f575135219 957
HARUKIDELTA 0:17f575135219 958 //8の字旋回
HARUKIDELTA 0:17f575135219 959 void UpdateTargetAngle_Moebius(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 960 static uint8_t RotateCounter=0;
HARUKIDELTA 0:17f575135219 961 static bool flg_setInStartAuto = false;
HARUKIDELTA 0:17f575135219 962 static float FirstYAW_Moebius = 0.0;
HARUKIDELTA 0:17f575135219 963 float newYaw_Moebius;
HARUKIDELTA 0:17f575135219 964
HARUKIDELTA 0:17f575135219 965 if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 966 FirstYAW_Moebius = nowAngle[YAW];
HARUKIDELTA 0:17f575135219 967 RotateCounter = 0;
HARUKIDELTA 0:17f575135219 968 flg_setInStartAuto = true;
HARUKIDELTA 0:17f575135219 969 }else if(!CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 970 flg_setInStartAuto = false;
HARUKIDELTA 0:17f575135219 971 led2 = 0;
HARUKIDELTA 0:17f575135219 972 }
HARUKIDELTA 6:ed61ed8b8fab 973 autopwm[THR]=oldTHR;
HARUKIDELTA 6:ed61ed8b8fab 974
HARUKIDELTA 0:17f575135219 975 newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
HARUKIDELTA 0:17f575135219 976
HARUKIDELTA 0:17f575135219 977 if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
HARUKIDELTA 0:17f575135219 978 if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
HARUKIDELTA 6:ed61ed8b8fab 979 if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
HARUKIDELTA 6:ed61ed8b8fab 980 if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
HARUKIDELTA 0:17f575135219 981
HARUKIDELTA 0:17f575135219 982
HARUKIDELTA 0:17f575135219 983 if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA 0:17f575135219 984 else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
HARUKIDELTA 0:17f575135219 985
HARUKIDELTA 0:17f575135219 986 }
HARUKIDELTA 0:17f575135219 987
HARUKIDELTA 0:17f575135219 988 //自動滑空
HARUKIDELTA 0:17f575135219 989 void UpdateTargetAngle_Glide(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 990 static int THRcount = 0;
HARUKIDELTA 0:17f575135219 991 static int t_start = 0;
HARUKIDELTA 0:17f575135219 992 static bool flg_tstart = false;
HARUKIDELTA 0:17f575135219 993 int t_diff = 0;
taknokolat 1:f383708a5a52 994 static int groundcount = 0;
HARUKIDELTA 0:17f575135219 995
HARUKIDELTA 0:17f575135219 996 targetAngle[ROLL] = g_glideloopROLL;
HARUKIDELTA 0:17f575135219 997 targetAngle[PITCH] = g_glideloopPITCH;
HARUKIDELTA 0:17f575135219 998
HARUKIDELTA 7:53b0eb6f6bd3 999 // autopwm[THR]=oldTHR;
taknokolat 10:652071c20bf6 1000
taknokolat 1:f383708a5a52 1001
HARUKIDELTA 7:53b0eb6f6bd3 1002
HARUKIDELTA 0:17f575135219 1003 //時間計測開始設定
HARUKIDELTA 0:17f575135219 1004 if(!flg_tstart && CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 1005 t_start = t.read();
HARUKIDELTA 0:17f575135219 1006 flg_tstart = true;
HARUKIDELTA 0:17f575135219 1007 pc.printf("timer start\r\n");
taknokolat 1:f383708a5a52 1008 }else if(!CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 1009 t_start = 0;
HARUKIDELTA 0:17f575135219 1010 flg_tstart = false;
HARUKIDELTA 0:17f575135219 1011 }
HARUKIDELTA 0:17f575135219 1012
taknokolat 1:f383708a5a52 1013
HARUKIDELTA 0:17f575135219 1014 //フラグが偽であれば計測は行わない
HARUKIDELTA 0:17f575135219 1015 if(flg_tstart){
HARUKIDELTA 0:17f575135219 1016 t_diff = t.read() - t_start;
HARUKIDELTA 0:17f575135219 1017 //一定高度or15秒でled点灯
taknokolat 10:652071c20bf6 1018 NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 1:f383708a5a52 1019 if((groundcount>5 && g_distance>0) || t_diff > 15){
HARUKIDELTA 0:17f575135219 1020 led2 = 1;
HARUKIDELTA 0:17f575135219 1021 //pc.printf("Call [Stop!] calling!\r\n");
HARUKIDELTA 0:17f575135219 1022 }
taknokolat 10:652071c20bf6 1023
taknokolat 1:f383708a5a52 1024 if(g_distance<180 && g_distance > 0) groundcount++;
taknokolat 10:652071c20bf6 1025 NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA 0:17f575135219 1026 }else{
HARUKIDELTA 0:17f575135219 1027 t_diff = 0;
taknokolat 1:f383708a5a52 1028 groundcount = 0;
HARUKIDELTA 0:17f575135219 1029 led2 = 0;
HARUKIDELTA 0:17f575135219 1030 }
HARUKIDELTA 0:17f575135219 1031
taknokolat 1:f383708a5a52 1032 if(t_diff > 17){
HARUKIDELTA 0:17f575135219 1033 autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA 0:17f575135219 1034 }else{
taknokolat 10:652071c20bf6 1035 NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA 0:17f575135219 1036 if(g_distance<150 && g_distance>0 ){
taknokolat 10:652071c20bf6 1037 NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA 0:17f575135219 1038 THRcount++;
HARUKIDELTA 0:17f575135219 1039 if(THRcount>5){
taknokolat 1:f383708a5a52 1040 autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA 0:17f575135219 1041 //pc.printf("throttle ON\r\n");
HARUKIDELTA 0:17f575135219 1042 }
HARUKIDELTA 0:17f575135219 1043 }else{
HARUKIDELTA 0:17f575135219 1044 autopwm[THR] = 1180;
HARUKIDELTA 0:17f575135219 1045 THRcount = 0;
HARUKIDELTA 0:17f575135219 1046 }
HARUKIDELTA 7:53b0eb6f6bd3 1047 }
HARUKIDELTA 0:17f575135219 1048 }
HARUKIDELTA 0:17f575135219 1049 //離陸-投下-着陸一連
HARUKIDELTA 0:17f575135219 1050 void Take_off_and_landing(float targetAngle[3]){
taknokolat 10:652071c20bf6 1051 /*
HARUKIDELTA 0:17f575135219 1052 if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
HARUKIDELTA 0:17f575135219 1053
HARUKIDELTA 0:17f575135219 1054 switch(bombing_mode){
HARUKIDELTA 0:17f575135219 1055 case Takeoff:
HARUKIDELTA 0:17f575135219 1056 static bool flg_setFirstYaw = false;
HARUKIDELTA 0:17f575135219 1057 static int TakeoffCount = 0;
HARUKIDELTA 0:17f575135219 1058
HARUKIDELTA 0:17f575135219 1059 if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 1060 FirstYAW = nowAngle[YAW];
HARUKIDELTA 0:17f575135219 1061 flg_setFirstYaw = true;
HARUKIDELTA 0:17f575135219 1062 }else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 1063 flg_setFirstYaw = false;
HARUKIDELTA 0:17f575135219 1064 }
HARUKIDELTA 0:17f575135219 1065
HARUKIDELTA 0:17f575135219 1066 UpdateTargetAngle_Takeoff(targetAngle);
HARUKIDELTA 0:17f575135219 1067
HARUKIDELTA 0:17f575135219 1068 if(g_distance>150) TakeoffCount++;
HARUKIDELTA 0:17f575135219 1069 else TakeoffCount = 0;
HARUKIDELTA 0:17f575135219 1070 if(TakeoffCount>5){
HARUKIDELTA 0:17f575135219 1071 autopwm[THR] = 1180+320*2*0.5;
HARUKIDELTA 0:17f575135219 1072 pc.printf("Now go to Approach mode!!");
HARUKIDELTA 0:17f575135219 1073 bombing_mode = Approach;
HARUKIDELTA 0:17f575135219 1074 }
HARUKIDELTA 0:17f575135219 1075 break;
taknokolat 10:652071c20bf6 1076
taknokolat 10:652071c20bf6 1077 //case Chicken:
taknokolat 10:652071c20bf6 1078 //break;
taknokolat 10:652071c20bf6 1079
HARUKIDELTA 0:17f575135219 1080 case Transition:
HARUKIDELTA 0:17f575135219 1081 static int ApproachCount = 0;
HARUKIDELTA 0:17f575135219 1082 targetAngle[YAW]=180.0;
HARUKIDELTA 0:17f575135219 1083 int Judge = Rotate(targetAngle, g_SerialTargetYAW);
HARUKIDELTA 0:17f575135219 1084
HARUKIDELTA 0:17f575135219 1085 if(Judge==0) ApproachCount++;
HARUKIDELTA 0:17f575135219 1086 if(ApproachCount>5) bombing_mode = Approach;
HARUKIDELTA 0:17f575135219 1087 break;
HARUKIDELTA 0:17f575135219 1088
HARUKIDELTA 0:17f575135219 1089 case Approach:
taknokolat 10:652071c20bf6 1090 */
taknokolat 10:652071c20bf6 1091 autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
HARUKIDELTA 0:17f575135219 1092 UpdateTargetAngle_Approach(targetAngle);
taknokolat 10:652071c20bf6 1093 /*
HARUKIDELTA 0:17f575135219 1094 break;
HARUKIDELTA 0:17f575135219 1095
HARUKIDELTA 0:17f575135219 1096 default:
HARUKIDELTA 0:17f575135219 1097 bombing_mode = Takeoff;
HARUKIDELTA 0:17f575135219 1098 break;
HARUKIDELTA 0:17f575135219 1099 }
taknokolat 10:652071c20bf6 1100 */
HARUKIDELTA 0:17f575135219 1101 }
HARUKIDELTA 0:17f575135219 1102
HARUKIDELTA 0:17f575135219 1103 //離陸モード
HARUKIDELTA 0:17f575135219 1104 void UpdateTargetAngle_Takeoff(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 1105 //pc.printf("%d \r\n",g_distance);
HARUKIDELTA 0:17f575135219 1106 targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA 0:17f575135219 1107 targetAngle[PITCH] = g_loopTHR;
HARUKIDELTA 0:17f575135219 1108 autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
HARUKIDELTA 0:17f575135219 1109 }
HARUKIDELTA 0:17f575135219 1110
HARUKIDELTA 0:17f575135219 1111 //ヨーを目標値にして許容角度になるまで水平旋回
HARUKIDELTA 0:17f575135219 1112 int Rotate(float targetAngle[3], float TargetYAW){
HARUKIDELTA 0:17f575135219 1113 float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
HARUKIDELTA 0:17f575135219 1114
HARUKIDELTA 0:17f575135219 1115 if(diffYaw > LIMIT_STRAIGHT_YAW){
HARUKIDELTA 0:17f575135219 1116 /*
HARUKIDELTA 0:17f575135219 1117 if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA 0:17f575135219 1118 else UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA 0:17f575135219 1119 */
HARUKIDELTA 0:17f575135219 1120 UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA 0:17f575135219 1121 return 1;
HARUKIDELTA 0:17f575135219 1122 }else if(diffYaw < -LIMIT_STRAIGHT_YAW){
HARUKIDELTA 0:17f575135219 1123 UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA 0:17f575135219 1124 /*
HARUKIDELTA 0:17f575135219 1125 if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA 0:17f575135219 1126 else UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA 0:17f575135219 1127 */
HARUKIDELTA 0:17f575135219 1128 return 1;
HARUKIDELTA 0:17f575135219 1129 }else{
HARUKIDELTA 0:17f575135219 1130 UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA 0:17f575135219 1131 return 0;
HARUKIDELTA 0:17f575135219 1132 }
HARUKIDELTA 0:17f575135219 1133 }
HARUKIDELTA 0:17f575135219 1134
HARUKIDELTA 0:17f575135219 1135 //チキラー投下
HARUKIDELTA 0:17f575135219 1136 void Chicken_Drop(){
HARUKIDELTA 0:17f575135219 1137 if(CheckSW_Up(Ch7)){
HARUKIDELTA 0:17f575135219 1138 autopwm[DROP] = 1512;
HARUKIDELTA 0:17f575135219 1139 pc.printf("Bombed!\r\n");
HARUKIDELTA 0:17f575135219 1140 RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
HARUKIDELTA 0:17f575135219 1141 //operation_mode = Approach;
HARUKIDELTA 0:17f575135219 1142 //buzzer = 0;
HARUKIDELTA 0:17f575135219 1143 pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA 0:17f575135219 1144 }
HARUKIDELTA 0:17f575135219 1145 }
HARUKIDELTA 0:17f575135219 1146
HARUKIDELTA 0:17f575135219 1147 void ReturnChickenServo1(){
HARUKIDELTA 0:17f575135219 1148 autopwm[DROP] = 1344;
HARUKIDELTA 0:17f575135219 1149 pc.printf("first reverse\r\n");
HARUKIDELTA 0:17f575135219 1150 RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
HARUKIDELTA 0:17f575135219 1151 }
HARUKIDELTA 0:17f575135219 1152
HARUKIDELTA 0:17f575135219 1153 void ReturnChickenServo2(){
HARUKIDELTA 0:17f575135219 1154 autopwm[DROP] = 1392;
HARUKIDELTA 0:17f575135219 1155 pc.printf("second reverse\r\n");
taknokolat 10:652071c20bf6 1156 }
taknokolat 10:652071c20bf6 1157
taknokolat 10:652071c20bf6 1158 //着陸モード（PCからの指令に従う）
taknokolat 10:652071c20bf6 1159 void UpdateTargetAngle_Approach(float targetAngle[3]){
taknokolat 10:652071c20bf6 1160
taknokolat 10:652071c20bf6 1161 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 10:652071c20bf6 1162
taknokolat 10:652071c20bf6 1163 switch(g_landingcommand){
taknokolat 10:652071c20bf6 1164 case 'R': //右旋回セヨ
taknokolat 10:652071c20bf6 1165 targetAngle[ROLL] = g_rightloopROLL;
taknokolat 10:652071c20bf6 1166 targetAngle[PITCH] = g_rightloopPITCH ;
taknokolat 10:652071c20bf6 1167 autopwm[RUD]=rightloopRUD; //RUD固定
taknokolat 10:652071c20bf6 1168 if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat 10:652071c20bf6 1169 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat 10:652071c20bf6 1170 }
taknokolat 10:652071c20bf6 1171 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat 10:652071c20bf6 1172 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
HARUKIDELTA 0:17f575135219 1173
taknokolat 10:652071c20bf6 1174 break;
taknokolat 10:652071c20bf6 1175
taknokolat 10:652071c20bf6 1176 case 'L': //左旋回セヨ
taknokolat 10:652071c20bf6 1177 targetAngle[ROLL] = g_leftloopROLL;
taknokolat 10:652071c20bf6 1178 targetAngle[PITCH] = g_leftloopPITCH;
taknokolat 10:652071c20bf6 1179 autopwm[RUD]=leftloopRUD;
taknokolat 10:652071c20bf6 1180 if(autopwm[AIL_R]>trimpwm[AIL_R]){
taknokolat 10:652071c20bf6 1181 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat 10:652071c20bf6 1182 }
taknokolat 10:652071c20bf6 1183 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA 0:17f575135219 1184
taknokolat 10:652071c20bf6 1185 break;
taknokolat 10:652071c20bf6 1186
taknokolat 10:652071c20bf6 1187 case 'G': //直進セヨ
taknokolat 10:652071c20bf6 1188 targetAngle[ROLL] = g_gostraightROLL;
taknokolat 10:652071c20bf6 1189 targetAngle[PITCH] = g_gostraightPITCH;
taknokolat 10:652071c20bf6 1190
taknokolat 10:652071c20bf6 1191
taknokolat 10:652071c20bf6 1192 break;
taknokolat 10:652071c20bf6 1193
taknokolat 10:652071c20bf6 1194 case 'Y': //指定ノヨー方向ニ移動セヨ
taknokolat 10:652071c20bf6 1195 Rotate(targetAngle, g_SerialTargetYAW);
taknokolat 10:652071c20bf6 1196 break;
taknokolat 10:652071c20bf6 1197
taknokolat 10:652071c20bf6 1198 case 'B': //ブザーヲ鳴ラセ
taknokolat 10:652071c20bf6 1199 //buzzer = 1;
taknokolat 10:652071c20bf6 1200 break;
taknokolat 10:652071c20bf6 1201
taknokolat 10:652071c20bf6 1202 case 'D': //物資ヲ落トセ
taknokolat 10:652071c20bf6 1203 Chicken_Drop();
taknokolat 10:652071c20bf6 1204 break;
taknokolat 10:652071c20bf6 1205
taknokolat 10:652071c20bf6 1206 case 'C': //停止セヨ
taknokolat 10:652071c20bf6 1207 targetAngle[ROLL] = 0.0;
taknokolat 10:652071c20bf6 1208 targetAngle[PITCH] = -3.0;
taknokolat 10:652071c20bf6 1209 autopwm[THR] = minpwm[THR];
taknokolat 10:652071c20bf6 1210 break;
HARUKIDELTA 0:17f575135219 1211
taknokolat 10:652071c20bf6 1212 }
taknokolat 10:652071c20bf6 1213 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 10:652071c20bf6 1214 }
taknokolat 10:652071c20bf6 1215
taknokolat 10:652071c20bf6 1216 void checkHeight(float targetAngle[3]){
taknokolat 10:652071c20bf6 1217
taknokolat 10:652071c20bf6 1218 static int targetHeight = 200;
taknokolat 10:652071c20bf6 1219 NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 10:652071c20bf6 1220 if(g_distance < targetHeight + ALLOWHEIGHT){
taknokolat 10:652071c20bf6 1221 UpdateTargetAngle_NoseUP(targetAngle);
taknokolat 10:652071c20bf6 1222 if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat 10:652071c20bf6 1223 }
taknokolat 10:652071c20bf6 1224 else if(g_distance > targetHeight - ALLOWHEIGHT){
taknokolat 10:652071c20bf6 1225 UpdateTargetAngle_NoseDOWN(targetAngle);
taknokolat 10:652071c20bf6 1226 if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat 10:652071c20bf6 1227 }
taknokolat 10:652071c20bf6 1228 else led2=0;
taknokolat 10:652071c20bf6 1229 NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA 0:17f575135219 1230 }
HARUKIDELTA 0:17f575135219 1231
taknokolat 10:652071c20bf6 1232 void UpdateTargetAngle_NoseUP(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 1233
HARUKIDELTA 0:17f575135219 1234 //targetAngle[PITCH] += 2.0f;
HARUKIDELTA 0:17f575135219 1235 //if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA 0:17f575135219 1236 autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05);
HARUKIDELTA 0:17f575135219 1237 //pc.printf("nose UP");
HARUKIDELTA 0:17f575135219 1238 }
HARUKIDELTA 0:17f575135219 1239
HARUKIDELTA 0:17f575135219 1240 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 1241
HARUKIDELTA 0:17f575135219 1242 //targetAngle[PITCH] -= 2.0f;
HARUKIDELTA 0:17f575135219 1243 autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05);
HARUKIDELTA 0:17f575135219 1244 //pc.printf("nose DOWN");
HARUKIDELTA 0:17f575135219 1245 }
HARUKIDELTA 0:17f575135219 1246
HARUKIDELTA 0:17f575135219 1247 //直進
HARUKIDELTA 0:17f575135219 1248 void UpdateTargetAngle_GoStraight(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 1249
HARUKIDELTA 0:17f575135219 1250 targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA 0:17f575135219 1251 targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA 0:17f575135219 1252 autopwm[THR] = SetTHRinRatio(g_loopTHR);
HARUKIDELTA 0:17f575135219 1253
HARUKIDELTA 0:17f575135219 1254 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA 0:17f575135219 1255 }
HARUKIDELTA 0:17f575135219 1256
HARUKIDELTA 3:206b17251f5b 1257
HARUKIDELTA 0:17f575135219 1258 //右旋回
HARUKIDELTA 0:17f575135219 1259 void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
HARUKIDELTA 0:17f575135219 1260
HARUKIDELTA 0:17f575135219 1261 targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA 0:17f575135219 1262 targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA 3:206b17251f5b 1263 autopwm[RUD]=rightloopRUD; //RUD固定
TUATBM 9:f6367b7fd7be 1264 autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶
HARUKIDELTA 3:206b17251f5b 1265 if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節
HARUKIDELTA 3:206b17251f5b 1266 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA 3:206b17251f5b 1267 }
HARUKIDELTA 3:206b17251f5b 1268 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
TUATBM 9:f6367b7fd7be 1269 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
TUATBM 9:f6367b7fd7be 1270
HARUKIDELTA 0:17f575135219 1271 //checkHeight(targetAngle);
HARUKIDELTA 0:17f575135219 1272 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA 0:17f575135219 1273 }
HARUKIDELTA 0:17f575135219 1274
HARUKIDELTA 4:fff1165ca50c 1275 //右旋回（着陸時スロットル０の時）
HARUKIDELTA 4:fff1165ca50c 1276 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
HARUKIDELTA 4:fff1165ca50c 1277
HARUKIDELTA 4:fff1165ca50c 1278 targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA 4:fff1165ca50c 1279 targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA 4:fff1165ca50c 1280 autopwm[RUD]=rightloopRUD;
HARUKIDELTA 4:fff1165ca50c 1281 autopwm[THR] = minpwm[THR];//SetTHRinRatio(g_loopTHR);
HARUKIDELTA 4:fff1165ca50c 1282 if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA 4:fff1165ca50c 1283 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA 4:fff1165ca50c 1284 }
HARUKIDELTA 4:fff1165ca50c 1285 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA 4:fff1165ca50c 1286
HARUKIDELTA 4:fff1165ca50c 1287 //checkHeight(targetAngle);
HARUKIDELTA 4:fff1165ca50c 1288 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA 4:fff1165ca50c 1289 }
HARUKIDELTA 4:fff1165ca50c 1290
HARUKIDELTA 0:17f575135219 1291 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
HARUKIDELTA 0:17f575135219 1292
HARUKIDELTA 0:17f575135219 1293 targetAngle[ROLL] = g_rightloopROLLshort;
HARUKIDELTA 0:17f575135219 1294 targetAngle[PITCH] = g_rightloopPITCHshort;
HARUKIDELTA 3:206b17251f5b 1295 autopwm[RUD]=rightloopshortRUD;
HARUKIDELTA 3:206b17251f5b 1296 autopwm[THR] = oldTHR;
HARUKIDELTA 3:206b17251f5b 1297 if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA 3:206b17251f5b 1298 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA 3:206b17251f5b 1299 }
HARUKIDELTA 3:206b17251f5b 1300 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA 0:17f575135219 1301
HARUKIDELTA 0:17f575135219 1302 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA 0:17f575135219 1303 }
HARUKIDELTA 0:17f575135219 1304
HARUKIDELTA 0:17f575135219 1305 //左旋回
HARUKIDELTA 0:17f575135219 1306 void UpdateTargetAngle_Leftloop(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 1307
HARUKIDELTA 0:17f575135219 1308 targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA 0:17f575135219 1309 targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA 4:fff1165ca50c 1310 autopwm[RUD]=leftloopRUD;
HARUKIDELTA 4:fff1165ca50c 1311 autopwm[THR] = oldTHR;
HARUKIDELTA 4:fff1165ca50c 1312 if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA 4:fff1165ca50c 1313 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA 4:fff1165ca50c 1314 }
HARUKIDELTA 4:fff1165ca50c 1315 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA 4:fff1165ca50c 1316 //checkHeight(targetAngle);
HARUKIDELTA 4:fff1165ca50c 1317
HARUKIDELTA 4:fff1165ca50c 1318 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA 4:fff1165ca50c 1319 }
HARUKIDELTA 4:fff1165ca50c 1320
HARUKIDELTA 4:fff1165ca50c 1321 //左旋回（着陸時スロットル０のとき）
HARUKIDELTA 4:fff1165ca50c 1322 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){
HARUKIDELTA 4:fff1165ca50c 1323
HARUKIDELTA 4:fff1165ca50c 1324 targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA 4:fff1165ca50c 1325 targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA 4:fff1165ca50c 1326 autopwm[RUD]=leftloopRUD;
HARUKIDELTA 4:fff1165ca50c 1327 autopwm[THR] = minpwm[THR];
HARUKIDELTA 4:fff1165ca50c 1328 if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA 4:fff1165ca50c 1329 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA 4:fff1165ca50c 1330 }
HARUKIDELTA 4:fff1165ca50c 1331 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA 4:fff1165ca50c 1332 //autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
HARUKIDELTA 0:17f575135219 1333 //checkHeight(targetAngle);
HARUKIDELTA 0:17f575135219 1334
HARUKIDELTA 2:23daa5fa28b4 1335 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA 0:17f575135219 1336 }
HARUKIDELTA 0:17f575135219 1337
HARUKIDELTA 0:17f575135219 1338 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
HARUKIDELTA 0:17f575135219 1339
HARUKIDELTA 0:17f575135219 1340 targetAngle[ROLL] = g_leftloopROLLshort;
HARUKIDELTA 0:17f575135219 1341 targetAngle[PITCH] = g_leftloopPITCHshort;
HARUKIDELTA 4:fff1165ca50c 1342 autopwm[RUD]=leftloopRUD;
HARUKIDELTA 4:fff1165ca50c 1343 autopwm[THR] = oldTHR;
HARUKIDELTA 4:fff1165ca50c 1344 if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA 4:fff1165ca50c 1345 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA 4:fff1165ca50c 1346 }
HARUKIDELTA 4:fff1165ca50c 1347 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA 4:fff1165ca50c 1348
HARUKIDELTA 0:17f575135219 1349 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA 0:17f575135219 1350 }
taknokolat 10:652071c20bf6 1351
HARUKIDELTA 0:17f575135219 1352
HARUKIDELTA 0:17f575135219 1353 //デバッグ用
HARUKIDELTA 0:17f575135219 1354 void DebugPrint(){
HARUKIDELTA 0:17f575135219 1355 /*
HARUKIDELTA 0:17f575135219 1356 static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA 0:17f575135219 1357 deltaT = t.read_u2s() - t_start;
HARUKIDELTA 0:17f575135219 1358 pc.printf("t:%d us, ",deltaT);
HARUKIDELTA 0:17f575135219 1359 pc.printf("\r\n");
HARUKIDELTA 0:17f575135219 1360 t_start = t.read_us();
HARUKIDELTA 0:17f575135219 1361 */
HARUKIDELTA 0:17f575135219 1362 //for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA 0:17f575135219 1363 //for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA 0:17f575135219 1364 //pc.printf("\r\n");
HARUKIDELTA 2:23daa5fa28b4 1365 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA 0:17f575135219 1366 //for(uint8_t i=0; i<2; i++) pc.printf("%3.2f\t",nowAngle[i]); //ロール、ピッチのみ　小数点以下2ケタ
taknokolat 10:652071c20bf6 1367 //pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]);
HARUKIDELTA 0:17f575135219 1368 //pc.printf("%d",g_distance);
HARUKIDELTA 0:17f575135219 1369
HARUKIDELTA 0:17f575135219 1370 //pc.printf("Mode: %c: ",g_buf[0]);
HARUKIDELTA 0:17f575135219 1371 //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
taknokolat 10:652071c20bf6 1372 //pc.printf("\r\n");
HARUKIDELTA 0:17f575135219 1373 }